local-fixes

.github/ci/CMakeLists.txt

@@ -0,0 +1,40 @@
+# CI stub — validates msg/srv definitions as a minimal adnav_interfaces package.
+# See .github/workflows/ci.yml for how this is assembled and built.
+cmake_minimum_required(VERSION 3.8)
+project(adnav_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  # Messages
+  msg/ANPPHeader.msg
+  msg/DeviceInformationPacket.msg
+  msg/FilterStatus.msg
+  msg/GNSSFixStatus.msg
+  msg/LLH.msg
+  msg/NED.msg
+  msg/PacketPeriod.msg
+  msg/RPH.msg
+  msg/RawAcknowledge.msg
+  msg/RawStatusPacket.msg
+  msg/RequestPacket.msg
+  msg/SerialInterface.msg
+  msg/SystemStatus.msg
+  # Services
+  srv/Ntrip.srv
+  srv/PacketPeriods.srv
+  srv/PacketTimerPeriod.srv
+  srv/RequestPackets.srv
+  DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

.github/ci/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>adnav_interfaces</name>
+  <version>0.0.1</version>
+  <description>
+    Minimal stub package used by CI to validate the msg/srv definitions in the
+    an-ros-common submodule.  Not intended for installation or release.
+  </description>
+  <maintainer email="support@advancednavigation.com.au">Advanced Navigation</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>builtin_interfaces</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

.github/workflows/ci.yml

@@ -0,0 +1,74 @@
+name: CI
+
+on:
+  push:
+    branches: ["**"]
+  pull_request:
+
+jobs:
+  # ---------------------------------------------------------------------------
+  # Job 1: Compile all C / C++ sources standalone (no ROS 2 required).
+  # Uses the CMakeLists.txt at the repo root which builds a static library from
+  # the six source files.
+  # ---------------------------------------------------------------------------
+  build-cpp:
+    name: Build C/C++ (standalone)
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install build tools
+        run: |
+          sudo apt-get update -q
+          sudo apt-get install -y --no-install-recommends build-essential cmake
+
+      - name: Configure (CMake)
+        run: cmake -B build -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build
+        run: cmake --build build --parallel $(nproc)
+
+  # ---------------------------------------------------------------------------
+  # Job 2: Validate the ROS 2 .msg / .srv definitions.
+  # Assembles a minimal 'adnav_interfaces' colcon package, copies the msg/srv
+  # files into it, and runs a full rosidl code generation build to verify
+  # syntax and cross-references.
+  # ---------------------------------------------------------------------------
+  validate-msgs:
+    name: Validate ROS 2 msgs/srvs (Humble)
+    runs-on: ubuntu-22.04
+    container:
+      image: ros:humble-ros-base
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install build dependencies
+        run: |
+          apt-get update -q
+          apt-get install -y --no-install-recommends \
+            python3-colcon-common-extensions \
+            ros-humble-rosidl-default-generators \
+            ros-humble-std-msgs \
+            ros-humble-geometry-msgs
+
+      - name: Assemble validation workspace
+        run: |
+          PKGDIR=/tmp/ws/src/adnav_interfaces
+          mkdir -p "${PKGDIR}/msg" "${PKGDIR}/srv"
+
+          # Copy interface definitions from this checkout.
+          cp msg/*.msg "${PKGDIR}/msg/"
+          cp srv/*.srv "${PKGDIR}/srv/"
+
+          # Copy the CI stub package manifest and build file.
+          cp .github/ci/package.xml "${PKGDIR}/package.xml"
+          cp .github/ci/CMakeLists.txt "${PKGDIR}/CMakeLists.txt"
+
+      - name: Build interfaces (validates msg/srv syntax)
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd /tmp/ws
+          colcon build --event-handlers console_direct+

CMakeLists.txt

@@ -0,0 +1,41 @@
+# Standalone CMakeLists.txt for the an-ros-common library.
+#
+# This file exists so the shared C/C++ sources can be compiled and verified
+# independently of any ROS 2 workspace (e.g. in CI).  It is NOT used when
+# building as part of a colcon workspace — colcon discovers packages via
+# package.xml, which is intentionally absent here.
+cmake_minimum_required(VERSION 3.14)
+project(an_ros_common C CXX)
+
+# --- Standards -----------------------------------------------------------------
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# --- Warnings ------------------------------------------------------------------
+if(CMAKE_C_COMPILER_ID MATCHES "GNU|Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+# --- Dependencies --------------------------------------------------------------
+# std::thread / std::atomic require the pthreads library on Linux.
+find_package(Threads REQUIRED)
+
+# --- Library -------------------------------------------------------------------
+add_library(an_ros_common STATIC
+  src/an_packet_protocol.c
+  src/ins_packets.c
+  src/rs232.c
+  src/adnav_comms.cpp
+  src/adnav_utils.cpp
+  src/adnav_ntrip.cpp
+)
+
+target_include_directories(an_ros_common PUBLIC include)
+target_link_libraries(an_ros_common PUBLIC Threads::Threads)

src/adnav_utils.cpp

@@ -196,6 +196,17 @@ namespace utils {
                 // Stream in interface number and name.
                 ss << "\n\t" << std::setw(2) << std::right << i << " | IF Name: " << ptr_entry->ifa_name << "\t";
 
+                // Per getifaddrs(3) the ifa_addr field may be NULL for
+                // interfaces without an address assigned (common for some
+                // virtual / unconfigured interfaces, easy to hit inside a
+                // container's network namespace). Dereferencing it caused
+                // a SIGSEGV in TCP-server / UDP modes.
+                if (ptr_entry->ifa_addr == nullptr) {
+                    ss << "(no address)";
+                    i++;
+                    continue;
+                }
+
                 // Check that the interface is IPv4
                 sa_family_t address_family = ptr_entry->ifa_addr->sa_family;
                 if (address_family == AF_INET) {

src/rs232.c

@@ -427,6 +427,7 @@ int comSetRts(int index, int state)
 #include <termios.h>
 #include <fcntl.h>
 #include <dirent.h>
+#include <errno.h>
 
 #if !defined(__USE_SVID)
 #define __USE_SVID // For strdup
@@ -608,10 +609,29 @@ int comWrite(int index, const unsigned char *buffer, size_t len)
         return 0;
     if (comDevices[index].handle <= 0)
         return 0;
-    int res = write(comDevices[index].handle, buffer, len);
-    if (res < 0)
-        res = 0;
-    return res;
+    /* Loop to handle short writes from the kernel TX buffer (rare on serial
+     * but cheap to be safe). */
+    size_t total = 0;
+    while (total < len)
+    {
+        ssize_t res = write(comDevices[index].handle,
+                            (const char *)buffer + total, len - total);
+        if (res < 0)
+        {
+            if (errno == EINTR)
+                continue;
+            return (int)total;
+        }
+        if (res == 0)
+            break;
+        total += (size_t)res;
+    }
+    /* Block until the bytes have been transmitted on the wire, not just
+     * queued in the kernel TX buffer. Without this, the caller can issue
+     * back-to-back configuration packets faster than the device can apply
+     * them, and AN devices have been observed to NACK the second write. */
+    tcdrain(comDevices[index].handle);
+    return (int)total;
 }
 
 int comRead(int index, unsigned char *buffer, size_t len)